CN109427076B - 相对于固定摄像机校准ptz摄像机方向的方法和系统 - Google Patents

相对于固定摄像机校准ptz摄像机方向的方法和系统 Download PDF

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CN109427076B
CN109427076B CN201810863465.8A CN201810863465A CN109427076B CN 109427076 B CN109427076 B CN 109427076B CN 201810863465 A CN201810863465 A CN 201810863465A CN 109427076 B CN109427076 B CN 109427076B
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camera
ptz camera
image
features
ptz
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CN109427076A (zh
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罗宾·达尔斯特伦
马蒂亚斯·吉林
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19617—Surveillance camera constructional details
    • G08B13/1963—Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
    • G08B29/18—Prevention or correction of operating errors
    • G08B29/20—Calibration, including self-calibrating arrangements
    • G08B29/24—Self-calibration, e.g. compensating for environmental drift or ageing of components
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/58—Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G06T2207/20164—Salient point detection; Corner detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30232—Surveillance
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Security & Cryptography (AREA)
  • Data Mining & Analysis (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Artificial Intelligence (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Studio Devices (AREA)
  • Details Of Cameras Including Film Mechanisms (AREA)
  • Accessories Of Cameras (AREA)
CN201810863465.8A 2017-08-29 2018-08-01 相对于固定摄像机校准ptz摄像机方向的方法和系统 Active CN109427076B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17188260.8 2017-08-29
EP17188260.8A EP3451650B1 (en) 2017-08-29 2017-08-29 A method of calibrating a direction of a pan, tilt, zoom, camera with respect to a fixed camera, and a system in which such a calibration is carried out

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CN109427076A CN109427076A (zh) 2019-03-05
CN109427076B true CN109427076B (zh) 2020-07-21

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US (1) US10430972B2 (enrdf_load_stackoverflow)
EP (1) EP3451650B1 (enrdf_load_stackoverflow)
JP (1) JP6698127B2 (enrdf_load_stackoverflow)
KR (1) KR102073482B1 (enrdf_load_stackoverflow)
CN (1) CN109427076B (enrdf_load_stackoverflow)
TW (1) TWI689870B (enrdf_load_stackoverflow)

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CN109151295B (zh) * 2017-06-16 2020-04-03 杭州海康威视数字技术股份有限公司 一种目标对象抓拍方法、装置及视频监控设备
USD882663S1 (en) * 2018-01-15 2020-04-28 Axis Ab Camera
USD888794S1 (en) * 2018-01-15 2020-06-30 Axis Ab Camera
DE102018215491A1 (de) * 2018-09-12 2020-03-12 Robert Bosch Gmbh Verfahren zur Kalibrierung eines Erfassungssystems
KR102619271B1 (ko) * 2018-11-01 2023-12-28 한화비전 주식회사 복수의 카메라들을 포함하는 영상 촬영 장치 및 영상 촬영 시스템
US11600022B2 (en) 2020-08-28 2023-03-07 Unity Technologies Sf Motion capture calibration using drones
US20220067968A1 (en) * 2020-08-28 2022-03-03 Weta Digital Limited Motion capture calibration using drones with multiple cameras
US11636621B2 (en) 2020-08-28 2023-04-25 Unity Technologies Sf Motion capture calibration using cameras and drones
CN113280806A (zh) * 2021-05-12 2021-08-20 上海智能网联汽车技术中心有限公司 适用于车路协同网联设备姿态调节的智能云台和调节方法
CN115811662A (zh) * 2021-09-14 2023-03-17 济南宇视智能科技有限公司 云台零点确定方法、装置、电子设备及介质
EP4171022B1 (en) * 2021-10-22 2023-11-29 Axis AB Method and system for transmitting a video stream
CN114299167B (zh) * 2022-03-11 2022-07-26 杭州灵西机器人智能科技有限公司 一种变焦镜头的单目标定方法、系统、装置和介质
US20240112315A1 (en) * 2022-09-23 2024-04-04 Microsoft Technology Licensing, Llc Distortion correction via analytical projection
US12335635B1 (en) * 2023-05-25 2025-06-17 Amazon Technologies, Inc. Hybrid omnidirectional camera systems

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GB0507869D0 (en) * 2005-04-19 2005-05-25 Wqs Ltd Automated surveillance system
TWI307484B (en) * 2006-02-21 2009-03-11 Univ Nat Chiao Tung Image capture apparatus calibration system and method there
US8405720B2 (en) * 2008-08-08 2013-03-26 Objectvideo, Inc. Automatic calibration of PTZ camera system
CN101763632B (zh) * 2008-12-26 2012-08-08 华为技术有限公司 摄像机标定的方法和装置
CN101515987B (zh) * 2008-12-30 2012-04-25 中国资源卫星应用中心 一种用于旋转扫描多元并扫红外相机的遥感图像辐射校正方法
SG191452A1 (en) 2011-12-30 2013-07-31 Singapore Technologies Dynamics Pte Ltd Automatic calibration method and apparatus
CN103780830B (zh) * 2012-10-17 2017-04-12 晶睿通讯股份有限公司 连动式摄影系统及其多摄影机的控制方法
TWI530180B (zh) * 2013-06-14 2016-04-11 晶睿通訊股份有限公司 連動式攝影系統及其多攝影機的控制方法
CN103105858A (zh) 2012-12-29 2013-05-15 上海安维尔信息科技有限公司 在固定相机和云台相机间进行目标放大、主从跟踪的方法
KR101567359B1 (ko) * 2014-02-10 2015-11-10 아이브스테크놀러지(주) Ptz 카메라에 대한 자동 캘리브레이션 장치 및 방법
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Also Published As

Publication number Publication date
CN109427076A (zh) 2019-03-05
EP3451650A1 (en) 2019-03-06
JP6698127B2 (ja) 2020-05-27
KR102073482B1 (ko) 2020-02-04
TW201921288A (zh) 2019-06-01
JP2019075776A (ja) 2019-05-16
EP3451650B1 (en) 2020-01-08
US10430972B2 (en) 2019-10-01
US20190066335A1 (en) 2019-02-28
KR20190024647A (ko) 2019-03-08
TWI689870B (zh) 2020-04-01

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